Parameterized distance restrictions on shoot.

src/agent.cpp

@@ -46,6 +46,7 @@
 #include "bhv_set_play.h"
 #include "bhv_set_play_kick_in.h"
 #include "bhv_set_play_indirect_free_kick.h"
+#include "shoot_generator.h"
 
 #include "bhv_custom_before_kick_off.h"
 #include "bhv_strict_check_shoot.h"
@@ -73,6 +74,7 @@
 #include <rcsc/action/body_kick_one_step.h>
 #include <rcsc/action/body_pass.h>
 #include <rcsc/action/body_dribble.h>
+#include <rcsc/action/body_smart_kick.h>
 #include <rcsc/action/neck_scan_field.h>
 #include <rcsc/action/neck_turn_to_ball_or_scan.h>
 #include <rcsc/action/view_synch.h>
@@ -402,6 +404,14 @@ void Agent::actionImpl() {
     close(sockfd);
     exit(1);
   }
+  if (action.action == SHOOT) {
+    const ShootGenerator::Container & cont =
+        ShootGenerator::instance().courses(this->world(), false);
+    ShootGenerator::Container::const_iterator best_shoot
+        = std::min_element(cont.begin(), cont.end(), ShootGenerator::ScoreCmp());
+    Body_SmartKick(best_shoot->target_point_, best_shoot->first_ball_speed_,
+                   best_shoot->first_ball_speed_ * 0.99, 3).execute(this);
+  }
   switch(action.action) {
     case DASH:
       this->doDash(action.arg1, action.arg2);
@@ -419,7 +429,6 @@ void Agent::actionImpl() {
       this->doMove();
       break;
     case SHOOT:
-      this->doShoot();
       break;
     case PASS:
       this->doPass();

src/chain_action/shoot_generator.cpp

@@ -96,7 +96,7 @@ ShootGenerator::clear()
 
  */
 void
-ShootGenerator::generate( const WorldModel & wm )
+ShootGenerator::generate( const WorldModel & wm, bool consider_shot_distance )
 {
     static GameTime s_update_time( 0, 0 );
 
@@ -124,13 +124,14 @@ ShootGenerator::generate( const WorldModel & wm )
 
     const ServerParam & SP = ServerParam::i();
 
-    if ( wm.self().pos().dist2( SP.theirTeamGoalPos() ) > std::pow( 30.0, 2 ) )
+    if ( consider_shot_distance &&
+         wm.self().pos().dist2( SP.theirTeamGoalPos() ) > std::pow( 30.0, 2 ) )
     {
 #ifdef DEBUG_PRINT
-        dlog.addText( Logger::SHOOT,
-                      __FILE__": over shootable distance" );
+      dlog.addText( Logger::SHOOT,
+                    __FILE__": over shootable distance" );
 #endif
-        return;
+      return;
     }
 
     M_first_ball_pos = ( wm.self().isKickable()

src/chain_action/shoot_generator.h

@@ -140,16 +140,16 @@ public:
     static
     ShootGenerator & instance();
 
-    void generate( const rcsc::WorldModel & wm );
+    void generate( const rcsc::WorldModel & wm, bool consider_shot_distance=true );
 
     /*!
       \brief calculate the shoot and return the container
       \param agent const pointer to the agent
       \return const reference to the shoot container
      */
-    const Container & courses( const rcsc::WorldModel & wm )
+    const Container & courses( const rcsc::WorldModel & wm, bool consider_shot_distance=true )
       {
-          generate( wm );
+          generate( wm, consider_shot_distance );
           return M_courses;
       }